Speed limits in autonomous vehicular networks due to communication constraints
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CDC16_rajat copy.pdf
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353.66 KB
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ab739ea413e905b1983e3b1103355249
Author(s)
Talak, Rajat Rajendra
Karaman, Sertac
Modiano, Eytan H
Date Issued
December 2016
Journal
2016 IEEE 55th Conference on Decision and Control (CDC)
Publisher
Institute of Electrical and Electronics Engineers (IEEE)
Citation
Talak, Rajat, Sertac Karaman, and Eytan Modiano. “Speed Limits in Autonomous Vehicular Networks Due to Communication Constraints.” 2016 IEEE 55th Conference on Decision and Control (CDC), 12-14 December, 2016, Las Vegas, Nevada, IEEE, 2016, pp. 4998-5003.
Version
Original manuscript
Abstract
Autonomous vehicles need to be aware of other vehicles in their vicinity in order to avoid collisions and successfully perform their tasks. Such network awareness is ensured by exchanging location and control information over wireless radio channels. However, wireless interference constraints limit the number of messages that can be exchanged between the vehicles. In this paper, we study the impact of such communication constraints on maximum vehicle speed in dense autonomous vehicular networks. We define hazard rate to be the fraction of time a vehicle enters an `uncertainty region', i.e., a region where there is a positive probability of other vehicles being present due to lack of situational awareness. We show that the hazard rate follows a threshold behavior with respect to maximum speed v as the network density n increases to infinity. We show that for a 2D network the hazard rate tends to 1, if the maximum speed v decreases slower than n[superscript -3/2]; and tends to 0, if v decreases faster than n[superscript -3/2]. For the network hazard rate, which is the fraction of time any vehicle enters its uncertainty region, the threshold is n[superscript -2]. Finally, we extend these results to a 3D network and show that the thresholds for the 3D network are larger than in the 2D network.
MIT Department
Massachusetts Institute of Technology. Department of Aeronautics and Astronautics
Massachusetts Institute of Technology. Laboratory for Information and Decision Systems
Terms of Use
Creative Commons Attribution-Noncommercial-Share Alike
Persistent DSpace Link
DOI of Published Version
https://doi.org/10.1109/CDC.2016.7799033
